相关论文: Towards Interpretable Motion-level Skill Assessmen…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…

To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…

Motion-related artifacts are inevitable in Magnetic Resonance Imaging (MRI) and can bias automated neuroanatomical metrics such as cortical thickness. These biases can interfere with statistical analysis which is a major concern as motion…

Infants' spontaneous and voluntary movements mirror developmental integrity of brain networks since they require coordinated activation of multiple sites in the central nervous system. Accordingly, early detection of infants with atypical…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

When human acquire physical skills (e.g., tennis) from experts, we tend to first learn from merely observing the expert. But this is often insufficient. We then engage in practice, where we try to emulate the expert and ensure that our…

Achieving high levels of surgical skill through effective training is essential for optimal patient outcomes. Automated, data-driven skill assessment holds significant potential to improve surgical training. While machine learning-based…

Effectively measuring the similarity between two human motions is necessary for several computer vision tasks such as gait analysis, person identi- fication and action retrieval. Nevertheless, we believe that traditional approaches such as…

This study proposes a new approach to incorporate motion duration in incremental dynamic assessments. In the proposed methodology, at each intensity level, a simulation-based approach, which is verified with actual data, is employed to…

This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit conditions, such as "pushing down the peg until contact".…

Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…

Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…

Thermal state reconstruction -- reversing convection to recover the thermal structure of the mantle at an earlier geologic time -- is an important tool to understand the evolution of mantle convection and its relation to seismic tomographic…

Bimanual gestures are of the utmost importance for the study of motor coordination in humans and in everyday activities. A reliable detection of bimanual gestures in unconstrained environments is fundamental for their clinical study and to…

Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…

Mimicking the perceptual functions of human cutaneous mechanoreceptors, artificial skins or flexible pressure sensors can transduce tactile stimuli to quantitative electrical signals. Conventional methods to design such devices follow a…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably,…